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Base inertial parameters constitute a minimal inertial parametrization ofmechanical systems that is of interest, for example, in parameter estimationand model reduction. Numerical and symbolic methods are available to determinetheir expressions. In this paper the problems associated with the numericaldetermination of the base inertial parameters expressions in the context of lowmobility mechanisms are analyzed and discussed through and example. Tocircumvent these problems two alternatives are proposed: a variable precisionarithmetic implementation of the customary numerical algorithm and theapplication of a general symbolic method. Finally, the advantages of bothapproaches compared to the numerical one are discussed in the context of theproposed low mobility example.

Drawbacks and alternatives to the numerical calculation of the base inertial parameters expressions for low mobility mechanisms